On-line Master/Slave Robot System Synchronization with Obstacle Avoidance

Abstract

Abstract:In this work, it is proposed a controller for the synchronization of master/slave robotic systems. The aim of the proposed controller is to provide autonomy to the slave robot, via obstacle avoidance capability. The controller includes two terms. The first term is a PID controller, which is mapped through the task Jacobian from the task space to the robot joint space. The second term is the on-line solution of an optimal control problem (OCP), which considers the dynamic model of the slave robot. The performance index of the OCP pursues three objectives. The first goal is synchronization of master/slave end-effector position. The second goal is to keep the joint positions of the slave robot within feasible limits. The third goal is the obstacle avoidance of the whole arm at the slave robot side. Experimental results show the effectiveness of our proposal when tested on a writing task.

Synchronization Control for a Mobile Manipulator Robot (MMR) System: A First Approach Using Trajectory Tracking Master–Slave Configuration

“…For a robot without kinematic constraints, the dynamical model can be described as D(q) q + C(q, q) q + F f (q, q) + G(q) = τ − J e (q)h r . (6) where D(q) ∈ R n×n is the inertia matrix; C(q, q) q ∈ R n×n is the Coriolis matrix; F f (q, q) ∈ R n is the force vector due to friction; G(q) ∈ R n is the gravitational effects vector; J e (q) ∈ R ρ×n is the Jacobian matrix that relates the articular velocities with the end-effector velocities ( Ẋe = J e (q) q); h r ∈ R ρ is the generalized forces vector due to robot interaction with the environment, if there is no interaction with the environment J e (q)h r = 0;…”

“…There are some interesting approaches for synchronizing fixed-base manipulators, for example, synchronization control based on output differential flatness [2]; in [3], the robustness of the sliding mode technique is considered; in [4], a system under parametric uncertainties is considered; in [5], the authors deal with dynamical uncertainties; and in [6], the problem of obstacle avoidance is solved. More recently, sophisticated controllers have been considered, see, for instance, [7], where a non-linear model predictive control is used for the synchronization problem at position and force levels.…”

Robust consensus control for multiple robotic manipulators

“…As a consequence, it has become a classical topic in system and control domain to deal with the synchronization of MRMS, which has drawn many attentions from control theory and engineering [3][4][5][6][7]. And many solutions have been come up with, such as cooperative or coordinated MRMS and so on, which are proven to be effective.…”

Mechanical design, implementation and tracking control of a seven degree of freedom redundant manipulator using discontineous Lyapunov-based controller

“…Early manipulator designs such as SCARA [3], PUMA 560 [4] and Cincinnati Milacron 776 [5], which are characterized by having the minimum number of joints required to execute tasks, resulted in a serious limitation in real-world applications [6]. The limitations are due to singularity problem, joint limits, and workspace obstacles [7,8]. These limitations increase the regions to be avoided in joint space and task space during operation, thus requiring a carefully planned task space of the manipulator.…”